Sub-bin refinement for autonomous machines

ABSTRACT

A computer-implemented method for determining a cut location for a machine implement is provided. The method may include comparing a target cut volume to a projected cut volume associated with each boundary of a selected bin, designating the cut location as the boundary most closely approximating the target cut volume if both of the projected cut volumes at the boundaries are either greater than or less than the target cut volume, and designating the cut location as an average of the boundaries if the projected cut volumes at the boundaries are greater than and less than the target cut volume.

TECHNICAL FIELD

The present disclosure relates generally to planning cut locations formachines, and more particularly, to methods and systems for determiningcut locations for autonomous machines based on sub-bin cut volumeanalysis.

BACKGROUND

Machines such as, for example, track-type tractors, dozers, motorgraders, wheel loaders, and the like, are used to perform a variety oftasks. For example, these machines may be used to move material and/oralter work surfaces at a worksite. The machines may be manned machines,but may also be autonomous or semi-autonomous vehicles that performthese tasks in response to commands remotely or locally generated aspart of a work plan for the machines. The machines may receiveinstructions in accordance with the work plan to perform operations,including digging, loosening, carrying, and any other manipulation ofmaterials at the worksite.

It may be desirable to ensure that the machines perform these operationssuch that the materials are moved in an efficient manner. Moreparticularly, in repetitive operations, it may be especially desirableto ensure that the locations at which the machines begin to alter thework surface and/or the profiles along which the machines alter the worksurface are chosen such that the machines function efficiently. Someconventional systems plan cut locations based on predetermined cutvolume estimations. Such systems often employ algorithms whichdigitalize a worksite into discrete bins or grids to facilitate anynecessary computations.

While such algorithms greatly assist in the planning process, there isstill room for improvement. For instance, due to the discrete nature ofthe calculations, precision can be somewhat compromised. One solutionfor improving precision is to increase the resolution or the number ofbins or grids per area of a worksite. By reducing the area or size perbin or grid, a cut location can be more precisely and accuratelydetermined. However, increasing the resolution also significantlyincreases the number of calculations required per cut location. Theincrease in computational load would either burden existing controlsystems, or demand substantial costs for implementing hardware suited tosupport the added computations.

In view of the foregoing inefficiencies and disadvantages associatedwith conventional autonomous machines and control systems therefor, aneed exists for control systems capable of providing improved precisionwithout substantially increasing computational load.

SUMMARY OF THE DISCLOSURE

In one aspect of the present disclosure, a computer-implemented methodfor determining a cut location for a machine implement is provided. Themethod may include comparing a target cut volume to a projected cutvolume associated with each boundary of a selected bin, designating thecut location as the boundary most closely approximating the target cutvolume if both of the projected cut volumes at the boundaries are eithergreater than or less than the target cut volume, and designating the cutlocation as an average of the boundaries if the projected cut volumes atthe boundaries are greater than and less than the target cut volume.

In another aspect of the present disclosure, a control system fordetermining a cut location for a machine implement is provided. Thecontrol system may include at least a memory and a controller incommunication with the memory. The memory may be configured toretrievably store one or more algorithms. Based on the one or morealgorithms, the controller may be configured to at least test eachboundary of a selected bin and corresponding projected cut volumes inrelation to a target cut volume, designate the cut location as theboundary most closely approximating the target cut volume if both of theprojected cut volumes at the boundaries are either greater than or lessthan the target cut volume, and designate the cut location as an averageof the boundaries if the projected cut volumes at the boundaries aregreater than and less than the target cut volume.

In yet another aspect of the present disclosure, a controller fordetermining a cut location for a machine implement is provided. Thecontroller may include at least a boundary test module, a boundaryselection module, and a boundary average calculation module. Theboundary test module may be configured to compare a target cut volume toa projected cut volume associated with each boundary of a selected bin.The boundary selection module may be configured to designate the cutlocation as the boundary most closely approximating the target cutvolume if the boundary test module indicates both of the projected cutvolumes at the boundaries to be either greater than or less than thetarget cut volume. The boundary average calculation module may beconfigured to designate the cut location as an average of the boundariesif the boundary test module indicates the projected cut volumes at theboundaries to be greater than and less than the target cut volume.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a pictorial illustration of an exemplary disclosed worksite;

FIG. 2 is a diagrammatic illustration of an exemplary control systemthat may be used at a worksite;

FIG. 3 is a diagrammatic illustration of an exemplary controller thatmay be used at a worksite;

FIG. 4 is a pictorial illustration of a simulation of a potential cut ata worksite that may be generated by a control system of the presentdisclosure; and

FIG. 5 is a flowchart depicting an exemplary disclosed method that maybe performed by a control system of the present disclosure.

DETAILED DESCRIPTION

Although the following sets forth a detailed description of numerousdifferent embodiments, it should be understood that the legal scope ofprotection is defined by the words of the claims set forth at the end ofthis patent. The detailed description is to be construed as exemplaryonly and does not describe every possible embodiment since describingevery possible embodiment would be impractical, if not impossible.Numerous alternative embodiments could be implemented, using eithercurrent technology or technology developed after the filing date of thispatent, which would still fall within the scope of the claims definingthe scope of protection.

It should also be understood that, unless a term is expressly definedherein, there is no intent to limit the meaning of that term, eitherexpressly or by implication, beyond its plain or ordinary meaning, andsuch term should not be interpreted to be limited in scope based on anystatement made in any section of this patent (other than the language ofthe claims). To the extent that any term recited in the claims at theend of this patent is referred to herein in a manner consistent with asingle meaning, that is done for sake of clarity only so as to notconfuse the reader, and it is not intended that such claim term belimited, by implication or otherwise, to that single meaning

Referring now to FIG. 1, one exemplary worksite 100 is illustrated withone or more machines 102 performing predetermined tasks. The worksite100 may include, for example, a mine site, a landfill, a quarry, aconstruction site, or any other type of worksite. The predetermined taskmay be associated with altering the geography at the worksite 100, suchas a dozing operation, a grading operation, a leveling operation, a bulkmaterial removal operation, or any other type of operation that resultsin geographical modifications within the worksite 100. The machines 102may be mobile machines configured to perform operations associated withindustries related to mining, construction, farming, or any otherindustry known in the art. The machines 102 depicted in FIG. 1, forexample, may embody earth moving machines, such as dozers having bladesor other work tools or implements 104 movable by way of one or moreactuators 106. The machines 102 may also include manned machines or anytype of autonomous or semi-autonomous machines.

The overall operations of the machines 102 and the machine implements104 within the worksite 100 may be managed by a control system 108 thatis at least partially in communication with the machines 102. Moreover,each of the machines 102 may include any one or more of a variety offeedback devices 110 capable of signaling, tracking, monitoring, orotherwise communicating relevant machine information to the controlsystem 108. For example, each machine 102 may include a locating device112 configured to communicate with one or more satellites 114, which inturn, may communicate to the control system 108 various informationpertaining to the position and/or orientation of the machines 102relative to the worksite 100. Each machine 102 may additionally includeone or more implement sensors 116 configured to track and communicateposition and/or orientation information of the implements 104 to thecontrol system 108.

The control system 108 may be implemented in any number of differentarrangements. For example, the control system 108 may be at leastpartially implemented at a command center 118 situated locally orremotely relative to the worksite 100 with sufficient means forcommunicating with the machines 102, for example, via satellites 114, orthe like. Additionally or alternatively, the control system 108 may beimplemented using one or more computing devices 120 with means forcommunicating with one or more of the machines 102 or one or morecommand centers 118 that may be locally and/or remotely situatedrelative to the worksite 100. In still further alternatives, the controlsystem 108 may be implemented on-board any one or more of the machines102 that are also provided within the worksite 100. Other suitable modesof implementing the control system 108 are possible and will beunderstood by those of ordinary skill in the art.

Using any of the foregoing arrangements, the control system 108 maygenerally be configured to monitor the positions of the machines 102and/or machine implements 104 relative to the worksite 100 and apredetermined target operation, and provide instructions for controllingthe machines 102 and/or machine implements 104 in an efficient manner inexecuting the target operation. In certain embodiments, the machines 102may be configured to excavate areas of a worksite 100 according to oneor more predefined excavation plans. For example, the excavation plansmay include, among other things, determining a location, size, and shapeof a plurality of cuts into an intended work surface or action space 122at the worksite 100 along a plurality of spaced apart locations known asslots 124. In such embodiments, the control system 108 may function as ameans for planning the excavation, for instance, to determine alocation, size, and shape of the cuts into the action space 122 withinthe slots 124. While described in connection with slot-based excavationplanning, the control system 108 may similarly be employed inconjunction with other types of action spaces 122.

Turning to FIG. 2, one exemplary embodiment of a control system 108 thatmay be used in conjunction with the worksite 100 of FIG. 1 isdiagrammatically provided. As shown, the control system 108 maygenerally include, among other things, a controller 126, a memory 128,and a communications device 130. More specifically, the controller 126may be configured to operate according to one or more algorithms thatare retrievably stored within the memory 128. The memory 128 may beprovided on-board the controller 126, external to the controller 126, orotherwise in communication therewith. The communications device 130 maybe configured to enable the controller 126 to communicate with one ormore of the machines 102, and provide information pertaining to theposition and/or orientation of the machines 102 and the machineimplements 104, for example, via satellites 114, or any other suitablemeans of communication. Moreover, the controller 126 may be implementedusing any one or more of a processor, a microprocessor, amicrocontroller, or any other suitable means for executing instructionsstored within the memory 128. Additionally, the memory 128 may includenon-transitory computer-readable medium or memory, such as a disc drive,flash drive, optical memory, read-only memory (ROM), or the like.

As further shown in FIG. 3, the controller 126 may be configured todetermine a cut location in an action space 122 according to a sub-binrefinement approach, or one or more algorithms which may generally becategorized into, for example, a digitalization module 132, a binselection module 134, a boundary test module 136, a boundary selectionmodule 138, and a boundary average calculation module 140. Withreference to exemplary diagram of FIG. 4, the digitalization module 132may configure the controller 126 to digitalize an action space 122 intoa plurality of grids or bins 142, where each bin 142 is equal in sizeand increment, such as in units of length, and encompasses a range ofpotential cut locations, and where each cut location is associated witha projected cut volume. Among the bins 142 digitalized by thedigitalization module 132, the bin selection module 134 may configurethe controller 126 to initially select the bin 142 having projected cutvolumes that would best approximate the target cut volume. The boundarytest module 136 may further refine the cut location analyses byconfiguring the controller 126 to perform boundary tests on eachboundary 144 of the selected bin 142.

In particular, the boundary test module 136 may configure the controller126 to compare the projected cut volume at each of the boundaries 144 ofthe selected bin 142 to the target cut volume. If the boundary testmodule 136 indicates that the projected cut volumes at the boundaries144 are both greater than the target cut volume or both less than thetarget cut volume, the boundary selection module 138 may configure thecontroller 126 to designate the final cut location as the boundary 144with the projected cut volume most closely approximating the target cutvolume. If, however, the boundary test module 136 indicates that theprojected cut volume at one boundary 144 is greater than the target cutvolume, and that the projected cut volume at the other boundary 144 isless than the target cut volume, the boundary average calculation module140 may configure the controller 126 to designate the final cut locationas the average of the boundaries 144. More particularly, the boundaryaverage calculation module 140 may perform an interpolation of at leastthe two boundary points 144, assign weights to each of the boundaries144 based on the interpolation, and calculate an average of the weightedboundaries 144 to be designated as the final cut location, for example,at final cut location 146 as shown in FIG. 4.

Additionally or optionally, the control system 108 and/or the controller126 may further be configured to track the position and/or orientationof the machines 102 and/or the machine implements 104, track previouslyengaged cut locations, communicate instructions to the machines 102and/or machine implements 104 for engaging cut locations, such as via anadditional communications module 130, and the like. Moreover, previouslytracked information may be at least temporarily stored within memory128. Furthermore, to further simplify calculations, the control system108 may convert a target cut volume into one or more predefined criteriaor thresholds against which the boundary cut locations of the bins 142may be directly compared, for instance, without having to calculate orassess the projected cut volume per iteration of the above processes.Other variations and modifications to the algorithms or methods will beapparent to those of ordinary skill in the art. One exemplary algorithmor method by which the controller 126 may be operated to determine a cutlocation based on the sub-bin refinement approach is discussed in moredetail below.

INDUSTRIAL APPLICABILITY

In general terms, the present disclosure sets forth methods, devices andsystems for volume-based cut planning and material moving operationswhere there are motivations to improve productivity and efficiency.Although applicable to any type of machine, the present disclosure maybe particularly applicable to autonomously or semi-autonomouslycontrolled dozing machines where the dozing machines are controlledalong particular travel routes within a worksite to excavate materials.Moreover, the present disclosure may provide excavation or cut planningwith improved precision by enabling sub-bin refinement without adding asignificant computational load or burden on the control system. Byproviding more refined control without adding complexity, cut locationsmay be determined and volume-based excavation work may be carried outwith improved productivity and efficiency.

One exemplary algorithm or computer-implemented method 148 fordetermining a cut location is diagrammatically provided in FIG. 5,according to which, for example, the control system 108 and thecontroller 126 may be configured to operate. With reference to FIG. 4and as shown in block 148-1 of FIG. 5, the controller 126 may initiallydigitalize a given action space 122 into a plurality of grids or bins142 such that each bin 142 is equal in size or length, and such thateach bin 142 encompasses a range of potential cut locations. Inaddition, each cut location may be associated with a projected cutvolume, which may be calculated by the controller 126 and/or retrievedfrom predetermined data or maps stored within memory 128 associated withthe controller 126. Based on the bins 142 digitalized in block 148-1,the controller 126 in block 148-2 may be configured to select the bin142 with corresponding projected cut volumes best suited to approximatea desired or target cut volume. More particularly, the controller 126may perform comparisons between the projected cut volumes of the bins142 and the target cut volume to determine the most efficient bin 142 tobegin with.

Once a starting bin 142 is selected, the controller 126 in block 148-3may be configured to perform a boundary test on each boundary 144 of theselected bin 142. In particular, the controller 126 may determine afirst projected cut volume corresponding to a first cut location at afirst boundary 144-1 of the selected bin 142, as well as a secondprojected cut volume corresponding to a second cut location at a secondboundary 144-2 of the selected bin 142. The controller 126 mayadditionally compare each of the first and second projected cut volumesagainst the target cut volume to determine whether the respectiveprojected cut volume is greater than or less than the target cut volume.If both of the first and second projected cut volumes are greater thanthe target cut volume, or if both of the first and second projected cutvolumes are less than the target cut volume, the controller 126 mayproceed to operate according to block 148-4. In block 148-4, thecontroller 126 may be configured to compare the first projected cutvolume to the second projected cut volume, and determine which of thetwo projected cut volumes more closely approximates the target cutvolume. Based on the comparison in block 148-4, the controller 126 inblock 148-5 may designate one of the boundaries 144 as the final cutlocation. For example, if the first projected cut volume is a betterapproximation of the target cut volume than the second projected cutvolume, the first boundary 144-1 may be designated as the final cutlocation. Alternatively, if the second projected cut volume is a betterapproximation, the second boundary 144-2 may be designated as the finalcut location.

If, however, one of the first and second projected cut volumes isgreater than the target cut volume, while the remaining one of the firstand second projected cut volumes is less than the target cut volume, thecontroller 126 may be configured to designate the final cut locationbased on a calculated average, such as a weighted average, of theboundaries or boundary points 144. For example, according to block148-6, the controller 126 may be configured to perform an interpolationbetween at least the two boundary points 144, or across other bins 142,and in block 148-7, the controller 126 may be configured to assignweights to the boundary points 144 based on that interpolation. Moreparticularly, the interpolation and weighting schemes may be computedbased at least partially on the size or length of the bins 142, therelative cut locations, the corresponding cut volumes, and the like. Inblock 148-8, the controller 126 may be configured to compute an averageof those weighted boundary points 144, and in block 148-9, thecontroller 126 may be configured to designate the weighted average ofthe boundary points 144 as the final cut location, for example, at finalcut location 146 as shown in FIG. 4.

Additionally or optionally, the method 148 may further configure thecontrol system 108 and the controller 126 to track the position and/ororientation of the machines 102 and/or the machine implements 104, trackpreviously engaged cut locations, communicate instructions to themachines 102 and/or machine implements 104 for engaging cut locations,and the like. Moreover, previously tracked information may be at leasttemporarily stored within memory 128. Furthermore, to further simplifycalculations, the control system 108 may convert a target cut volumeinto one or more predefined criteria or thresholds against which theboundary cut locations of the bins 142 may be directly compared, forinstance, without having to calculate or assess the projected cut volumeper iteration of the above processes.

From the foregoing, it will be appreciated that while only certainembodiments have been set forth for the purposes of illustration,alternatives and modifications will be apparent from the abovedescription to those skilled in the art. These and other alternativesare considered equivalents and within the spirit and scope of thisdisclosure and the appended claims.

What is claimed is:
 1. A computer-implemented method for determining acut location for a machine implement, comprising: comparing a target cutvolume to a projected cut volume associated with each boundary of aselected bin; designating the cut location as the boundary most closelyapproximating the target cut volume if both of the projected cut volumesat the boundaries are either greater than or less than the target cutvolume; and designating the cut location as an average of the boundariesif the projected cut volumes at the boundaries are greater than and lessthan the target cut volume.
 2. The computer-implemented method of claim1, wherein the selected bin is selected from a plurality of binscorresponding to a digitalization of an action space, each of theplurality of bins being equal in size and including a range of cutlocations, each cut location having a corresponding projected cutvolume.
 3. The computer-implemented method of claim 2, wherein theselected bin is selected such that the associated range of cut locationshas corresponding projected cut volumes most closely approximating thetarget cut volume.
 4. The computer-implemented method of claim 1,wherein the average of the boundaries is a weighted average.
 5. Thecomputer-implemented method of claim 4, wherein the weighted average isdetermined by performing an interpolation of at least the boundaries ofthe selected bin, assigning a weight to each of the boundaries based onthe interpolation, and calculating an average of the weightedboundaries.
 6. The computer-implemented method of claim 1, furthertracking a location of the machine implement and previously engaged cutlocations.
 7. The computer-implemented method of claim 1, furthercommunicating instructions to the machine implement for engaging a cutat the cut location.
 8. A control system for determining a cut locationfor a machine implement, comprising: a memory configured to retrievablystore one or more algorithms; and a controller in communication with thememory and, based on the one or more algorithms, configured to at least:test each boundary of a selected bin and corresponding projected cutvolumes in relation to a target cut volume, designate the cut locationas the boundary most closely approximating the target cut volume if bothof the projected cut volumes at the boundaries are either greater thanor less than the target cut volume, and designate the cut location as anaverage of the boundaries if the projected cut volumes at the boundariesare greater than and less than the target cut volume.
 9. The controlsystem of claim 8, wherein the controller is configured to select theselected bin from a plurality of bins corresponding to a digitalizationof an action space, each of the plurality of bins being equal in sizeand including a range of cut locations, each cut location having acorresponding projected cut volume.
 10. The control system of claim 9,wherein the controller is configured to select the selected bin suchthat the associated range of cut locations has corresponding projectedcut volumes most closely approximating the target cut volume.
 11. Thecontrol system of claim 8, wherein the controller is configured todetermine the average of the boundaries based on a weighted average ofthe boundaries.
 12. The control system of claim 11, wherein thecontroller is configured to determine the weighted average by performingan interpolation of at least the boundaries of the selected bin,assigning a weight to each of the boundaries based on the interpolation,and calculating an average of the weighted boundaries.
 13. The controlsystem of claim 8, wherein the controller is configured to track alocation of the machine implement and previously engaged cut locations.14. The control system of claim 8, wherein the controller is configuredto communicate instructions to the machine implement for engaging a cutat the cut location.
 15. A controller for determining a cut location fora machine implement, comprising: a boundary test module configured tocompare a target cut volume to a projected cut volume associated witheach boundary of a selected bin; a boundary selection module configuredto designate the cut location as the boundary most closely approximatingthe target cut volume if the boundary test module indicates both of theprojected cut volumes at the boundaries to be either greater than orless than the target cut volume; and a boundary average calculationmodule configured to designate the cut location as an average of theboundaries if the boundary test module indicates the projected cutvolumes at the boundaries to be greater than and less than the targetcut volume.
 16. The controller of claim 15, further comprising adigitalization module configured to digitalize an action space into aplurality of bins, each of the plurality of bins being equal in size andincluding a range of cut locations, each cut location having acorresponding projected cut volume.
 17. The controller of claim 16,further comprising a bin selection module configured to select theselected bin such that the associated range of cut locations hascorresponding projected cut volumes most closely approximating thetarget cut volume.
 18. The controller of claim 15, wherein the boundaryaverage calculation module is configured to calculate a weighted averageof the boundaries.
 19. The controller of claim 18, wherein the boundaryaverage calculation module is configured to perform an interpolation ofat least the boundaries, assign a weight to each of the boundaries basedon the interpolation, and designate the cut location based on an averageof the weighted boundaries.
 20. The controller of claim 15, furthercomprising a communications module configured to at least track alocation of the machine implement and previously engaged cut locations.